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Manufacturer Websites
While they don't usually host ROMs directly, you may find that they have software useful for upgrading stock ROMs, such as Samsung's tool Kies. If you want to upgrade and stay stock then you should try official methods first.
Google Flagship Updates
Google hosts update packages for the flagship Nexus devices at http://android.clients.google.com/packages/. You can't browse that link directly, but web search is your friend here. Search for that link plus the code name of the device and the version you want; for example, searching android.clients.google.com/packages crespo ics results in a lot of pages with this link -- the OTA Ice Cream Sandwich update for the T-Mobile Nexus S. Links for various "factory images" for Nexus devices can be found here. XDA Forums
Probably the first place you should look after trying the official route is the XDA Developers' forums. Stock ROMs are usually posted in the General sub-forum for your device, and cus…